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US20140372074A1 - Tip-over sensor - Google Patents

Tip-over sensor Download PDF

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Publication number
US20140372074A1
US20140372074A1 US14/295,864 US201414295864A US2014372074A1 US 20140372074 A1 US20140372074 A1 US 20140372074A1 US 201414295864 A US201414295864 A US 201414295864A US 2014372074 A1 US2014372074 A1 US 2014372074A1
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US
United States
Prior art keywords
value
tip
multiplier
over
values
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US14/295,864
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English (en)
Inventor
Alexander Dribinsky
Kenichi Katsumoto
Hongzhi Sun
John Newton
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Memsic Inc
Original Assignee
Memsic Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Memsic Inc filed Critical Memsic Inc
Priority to US14/295,864 priority Critical patent/US20140372074A1/en
Priority to CN201480033753.0A priority patent/CN105378428A/zh
Priority to KR1020167000530A priority patent/KR20160023772A/ko
Priority to EP14810672.7A priority patent/EP3008422B1/fr
Priority to PCT/US2014/041253 priority patent/WO2014200835A1/fr
Priority to JP2016519557A priority patent/JP2016524147A/ja
Assigned to MEMSIC, INC. reassignment MEMSIC, INC. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: KATSUMOTO, KENICHI, NEWTON, JOHN, DRIBINSKY, ALEXANDER, SUN, HONGZHI
Publication of US20140372074A1 publication Critical patent/US20140372074A1/en
Assigned to MEMSIC, INC. reassignment MEMSIC, INC. CORRECTIVE ASSIGNMENT TO CORRECT THE STATE OF INCORPORATION OF THE ASSIGNEE PREVIOUSLY RECORDED AT REEL: 033078 FRAME: 0017. ASSIGNOR(S) HEREBY CONFIRMS THE ASSIGNMENT. Assignors: KATSUMOTO, KENICHI, NEWTON, JOHN, DRIBINSKY, ALEXANDER, SUN, HONGZHI
Abandoned legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • G01C9/02—Details
    • G01C9/06—Electric or photoelectric indication or reading means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0132—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40—Sensor arrangements; Mounting thereof
    • B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
    • B62J45/415—Inclination sensors
    • B62J45/4151—Inclination sensors for sensing lateral inclination of the cycle

Definitions

  • accelerometers can be used to measure an angle of inclination of an apparatus.
  • a Digital Thermal Orientation Sensor (DTOS) device available from MEMSIC, Inc., Andover, Mass. can be used to measure an inclination angle in order to determine if the apparatus is being operated within its parameters.
  • An indication that the apparatus has tipped beyond some predetermined angle, i.e., it has “tipped over,” may require intervention in order to maintain safe operating conditions.
  • accelerometer used to determine an inclination angle is, oftentimes, placed in an environment that subjects it to noise, vibration and other adverse conditions.
  • accelerometers are often used in handheld devices and, therefore, need to be as small as possible while meeting high levels of reliability.
  • a tip-over sensor or detector that, upon sensing of a tipping or tipped condition, provides a signal indicative of that condition.
  • the output signal can be employed to trigger an alarm or to shut down a device, for example, but not limited to, a motorcycle, space heater, iron, etc., that has tipped over or to otherwise denote the tip-over condition.
  • a method of detecting a tip-over condition includes setting a tip-over threshold angle value ⁇ and first and second multiplier values a, b as a function of the tip-over threshold angle value ⁇ .
  • An acceleration value (Xm) along an X-axis and an acceleration value (Zm) along a Z-axis are measured.
  • a tip-over sensor includes an accelerometer that measures and outputs an acceleration value Xm along an X-axis and an acceleration value Zm along a Z-axis.
  • a multiplier multiplies the acceleration value Xm by a first multiplier value (b) and multiplies the acceleration value Zm by a second multiplier value (a) and outputs (b*Xm) and (a*Zm) where the first and second values (a) and (b) are set as a function of a tip-over threshold angle ⁇ .
  • An orientation detector determines if the tip-over threshold angle ⁇ has been reached as a function of the first and second summed values F 1 , F 2 .
  • FIG. 1 is a conceptual representation of an embodiment of the present invention on a motorcycle
  • FIG. 2 is a representation of a coordinate system in accordance with an embodiment of the present invention.
  • FIG. 3 is a functional block diagram of a tip sensor in accordance with an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a tip sensor in accordance with an embodiment of the present invention corresponding to that shown in FIG. 3 ;
  • FIG. 5 is a block diagram of a programmable capacitor
  • FIGS. 6 and 7 are functional block diagrams of the tip sensor of FIG. 4 at different stages of operation
  • FIG. 8 is a functional block diagram of a tip sensor in accordance with an embodiment of the present invention.
  • FIGS. 9-11 are functional block diagrams of the tip sensor of FIG. 8 at different stages of operation
  • FIG. 12 is a functional block diagram of a tip sensor in accordance with an embodiment of the present invention.
  • FIG. 13 is a flowchart of a method of operation of a tip sensor in accordance with an embodiment of the present invention.
  • the present invention provides a tip-over sensor that utilizes, in one embodiment, a MEMS thermal accelerometer that is extremely robust, reliable and shock tolerant.
  • the device is particularly well suited to harsh or high vibration environments such as for use in motorcycles and other vehicles.
  • a tip-over sensor in accordance with the invention can be implemented, in one embodiment, to provide an interface for a user to program, i.e., to choose, a tip-over threshold angle from a plurality of thresholds. If the device orientation with respect to a reference exceeds the programmed tip-over threshold angle, a digital output changes state to provide an alert of a tip-over, or fall down, event.
  • the threshold angle can be preprogrammed, i.e., pre-selected or hard-wired, into the device.
  • a two-axis accelerometer 105 or sensor 105 , (not to scale), is mounted on, for example, a motorcycle 110 . It has two axes of sensitivity: X and Z.
  • the sensor 105 senses 1 g of acceleration on the Z-axis and 0 g acceleration on the X-axis. If the motorcycle 110 leans to one side, the sensor 105 will register a smaller acceleration value on the Z-axis, and a nonzero acceleration value on the X-axis.
  • the X-axis signal value may be positive or negative depending on whether the motorcycle 110 is leaning to the left or to the right, looking in the direction toward the front wheel, i.e., the normal orientation of an operator or rider.
  • LA lean angle
  • ⁇ tip-over threshold angle
  • Equations 1 and 2 can be rewritten as:
  • both sides of Eq. (3) are multiplied by a coefficient based on two scale factors, a and b.
  • the values for a and b are chosen such that the following ratio is satisfied:
  • an orientation vector of the motorcycle 110 is defined as going through the spine of the rider, starting at her seat and exiting at her head, i.e., the Z-axis.
  • the possible orientation of the motorcycle 110 is considered to be in one of four quadrants: TOP, RIGHT, BOTTOM and LEFT. These quadrants are limited by the boundaries defined by the tip-over threshold angle ⁇ .
  • the orientation vector of the motorcycle 110 i.e., the lean angle (LA) is in the TOP quadrant, the following is true:
  • orientation vector of the motorcycle 110 is in the BOTTOM quadrant, the following is true:
  • the BOTTOM orientation is unlikely to occur with a motorcycle, but is easily achievable with a watercraft, such as a jet ski or similar vehicle, where this orientation most likely indicates the watercraft is upside-down in the water and the operator, hopefully, unhurt and nearby treading water.
  • a tip-over sensor system 300 includes a two-axis accelerometer 302 that generates two voltages proportional to the X- and Z-axis accelerations, respectively.
  • Two multipliers 304 - 1 and 304 - 2 are provided along with two programmable coefficient generators 306 - 1 and 306 - 2 .
  • the first programmable coefficient generator 306 - 1 is set to the “b” value while the second programmable coefficient generator 306 - 2 is set to the “a” coefficient value.
  • the first multiplier provides the value b*X and the second multiplier 304 - 2 provides the value a*Z.
  • the outputs of the two-axis accelerometer 302 may be presented to signal conditioning circuits, e.g., pre-amplifiers, CN converters, filters, offset adjustment circuits, etc., prior to being sent to the multipliers.
  • signal conditioning circuits e.g., pre-amplifiers, CN converters, filters, offset adjustment circuits, etc.
  • Such signal conditioning circuits may either be externally provided with respect to the accelerometer or internally integrated.
  • the two multipliers 304 - 1 and 304 - 2 may be implemented using amplifiers with different gain values as is understood by one of ordinary skill in the art.
  • First and second summers 308 - 1 , 308 - 2 are provided where the first summer 308 - 1 provides an output of (a*Z+b*X) and the second summer 308 - 2 provides an output equal to (a*Z ⁇ b*X) as the second summer 308 - 2 has an inverting input at which it receives the value b*X.
  • a first sign detector 310 - 1 determines a sign of the output from the first summer 308 - 1 while a second sign detector 310 - 2 determines a sign of the output from the second summer 308 - 2 .
  • the respective outputs from the first and second sign detectors 310 - 1 , 310 - 2 are received at an orientation detector 312 that provides a binary signal indicating the leaning condition of the sensor 302 with respect to the coefficient values a, b.
  • first and second amplifiers 314 - 1 and 314 - 2 are used to provide Z and X acceleration values directly.
  • the orientation detector 312 may include a logic function to determine which quadrant the device is in, e.g., generate a two-bit output based on the outputs of the first and second sign detectors 310 - 1 , 310 - 2 and then a functional logic block to determine if the quadrant is allowed or not.
  • FIG. 4 another tip-over sensor system 400 is provided that operates in similar fashion as the tip-over sensor system 300 shown in FIG. 3 , however, the multipliers 304 and programmable coefficient generators 306 are replaced with adjustable capacitors and switches as will be described in more detail below.
  • the first multiplier 304 - 1 and corresponding programmable coefficient generator 306 - 1 are replaced by an adjustable capacitor 402 - 1 having a value of C b and a number of switches 404 , 406 , 408 and 410 .
  • the second multiplier 304 - 2 and programmable coefficient generator 306 - 2 are replaced by a second adjustable capacitor 402 - 2 having a value of C a and switches 412 , 414 , 416 and 418 .
  • switches 406 , 410 , 414 and 418 one end is coupled to a node of the respective capacitor while the other end is coupled to an analog ground 420 .
  • Analog ground 420 is not necessarily a zero volt reference.
  • the adjustable capacitors 402 - 1 , 402 - 2 operate as a sampling capacitor to sample both positive and negative X and Z output voltages from the sensor 302 .
  • the variable of interest is the charge built up on each of the capacitors.
  • the first capacitor 402 - 1 is set to a value of b picoFarads and the second capacitor 402 - 2 is set to a value of a picoFarads.
  • Each of the first and second capacitors 402 - 1 , 402 - 2 is itself an adjustable capacitor module 500 as shown in FIG. 5 .
  • seven capacitors C 1 -C 7 are arranged amongst six pairs of switches SW 1 A, SW 1 B; SW 2 A, SW 2 B; SW 3 A, SW 3 B; SW 4 A, SW 4 B; SW 5 A, SW 5 B; and SW 6 A, SW 6 B.
  • Control signals are sent to the switches to open and close the respective switches to obtain the desired capacitance value.
  • the six pairs of switches SW 1 A, SW 1 B, SW 2 A, SW 2 B, SW 3 A, SW 3 B, SW 4 A, SW 4 B, SW 5 A, SW 5 B, SW 6 A, SW 6 B are operated such that, in each pair, one is opened when the other is closed.
  • switches SW 1 A, SW 1 B are operated such that a first control signal is sent to switch SW 1 A and an inverted version of the first control signal is sent to SW 1 B.
  • the capacitors C 1 -C 7 are implemented as CMOS parallel plate capacitors and the switches are implemented with, for example, CMOS FET devices or NMOS transistors as is well understood.
  • CMOS FET devices or NMOS transistors
  • the control signals could be provided to the module 500 to open and close the switches, via any one of a number of known signaling schemes including, but not limited to, I 2 C or parallel logic pins or inputs as needed and as is well understood by one of ordinary skill in the art.
  • capacitors C 3 , C 6 and C 7 are each 50 fF and capacitors C 1 and C 4 are each 200 fF and capacitors C 2 and C 5 are each 100 fF, then based on the operation of the switches, the output capacitance can be adjusted in a range from 0 to 393.75 fF in steps of 6.25 fF.
  • this is just an example and not intended to be limiting.
  • the switches 404 - 410 and 412 - 418 are alternately opened and closed in order to build up charge on the sampling capacitors 402 - 1 , 402 - 2 .
  • switches 404 and 410 are closed while switches 406 and 408 are open.
  • switches 412 , 418 are closed and switches 414 , 416 are open in order to build up charge on the second sampling capacitor 402 - 2 .
  • the timing of the opening and closing of the switches is under the control of a device, not shown here, but the operation of which is easily understood by one of ordinary skill in the art.
  • the charge built up on the sampling capacitors is then transferred to the summers 308 - 1 , 308 - 2 by opening the switches that are closed and then closing the switches that are open.
  • the switches operate, generally, in a break-before-make mode of operation, as is understood by one of ordinary skill in the art.
  • the control signals of the switches can be provided by a clock generator providing appropriate non-overlapping signals as understood by one of ordinary skill in the art.
  • switches 404 , 410 are opened and switches 406 , 408 are closed while switches 412 , 418 are opened and switches 414 and 416 are closed.
  • the charge values on the sampling capacitors are presented to the summers for the tip-over determination as has been described above.
  • a tip-over sensor apparatus 800 in another embodiment, includes an analog-to-digital converter (ADC) 802 , a positive summing junction (SJP) 804 and a negative summing junction (SJN) 806 .
  • ADC analog-to-digital converter
  • SJP positive summing junction
  • SJN negative summing junction
  • the same programmable capacitors, as described above in FIG. 7 , and their corresponding switches, are used and function as has already been described.
  • FIG. 8 depicts the sensor 302 as having differential X and Z outputs. Such differential outputs are well known to those of ordinary skill in the art and the operations of the previously described embodiments, although described as single-ended signals for convenience, could be easily modified for differential values as is well understood.
  • the positive and negative summing junctions SJP, SJN and the first and second summers 308 - 1 , 308 - 2 may be implemented, using analog techniques, with the summing junctions of opamps, as known to one of ordinary skill in the art.
  • additional switches 810 - 824 are provided to couple the charges on the sampling capacitors to either of the positive or negative summing junctions 804 , 806 as will be described below.
  • switches 404 , 404 - 1 , 410 , 410 - 1 , 412 , 412 - 1 , 418 and 418 - 1 are closed in order to acquire charge on the sampling capacitors. Subsequently, those switches are opened and switches 406 , 406 - 1 , 412 , 412 - 1 , 408 , 408 - 1 , 416 and 416 - 1 are closed as shown in FIG. 10 . Additionally, as shown in FIG. 9 , switches 812 and 824 are closed in order to place the X+ and Z ⁇ signals on the negative input of the ADC 802 via the SJN 806 .
  • switches 814 and 818 are closed in order to provide the X ⁇ and Z+ signal on the positive input of the ADC 802 , as shown in FIG. 9 .
  • the calculation of (a*Z ⁇ b*X) is determined by the ADC 802 via the SJP 804 .
  • switches shown herein may not be necessary and could be removed.
  • the representations herein are exemplary in order to aid in the understanding of the operation of the various embodiments of the present invention and, therefore, the circuits shown are not intended to be limiting.
  • the operation of the device transitions between the states shown in FIGS. 9 and 10 multiple times in order to provide a delta-sigma, or oversampling, operation with the ADC.
  • switches 812 and 814 are opened and switches 810 and 816 are closed.
  • the X+ signal and the Z+ signal are provided to the positive summing junction 804 and to the plus input of the ADC 802 and the X ⁇ and Z ⁇ charges are provided onto the negative summing junction 806 and to the negative input of the ADC 802 which then determines the equation a*Z+b*X in order to then determine whether the tip-over threshold angle ⁇ has been exceeded.
  • the device's states transition from that shown in FIG. 10 to the state shown in FIG. 9 and then to the state shown in FIG. 11 .
  • the JSP 804 and JSM 806 are provided as inputs to the ADC 802 .
  • the ADC 802 is being used to determine whether the charge values (a*Z ⁇ b*X) or (a*Z+b*X) are positive or negative. In operation, the determination may be made by observing the most significant bit (MSB) of the output of the ADC 802 . Alternatively, a comparator could be used in place of the ADC.
  • a matrix/ADC module 830 can be defined as including the ADC 802 and the sampling capacitors 402 and the corresponding switches as outlined within the dotted line shown in FIG. 8 .
  • a further embodiment as shown in FIG. 12 includes the differential acceleration sensor 302 feeding the differential X, Z signals to a first matrix/ADC module 830 - 1 that receives a/b control signals to set the variables a, b in order to determine the tip-over threshold angle, as has been described above, as well as to a second matrix/ADC module 830 - 2 that receives a separate set of a, b control signals to output the X, Z signals.
  • the value (a) would be set equal to the value (b) in order to provide the measures of the magnitudes of accelerations in the X and Z-axes.
  • the output of the first matrix/ADC 830 - 1 is sent to a digital low-pass filter 902 in order to remove the effects of vibration and other extraneous conditions on the measured signals. Subsequently, the output of the low-pass filter 902 is sent to the sign detector 310 and to the orientation detector 312 to operate as has already been described above.
  • the second matrix/ADC module 830 - 2 is not included.
  • the tip-over system operates in four phases.
  • the first matrix/ADC module 830 - 1 is operated with the values a, b set in the ratio a/b, as described, to calculate the quantities (a*Z ⁇ b*X) and (a*Z+b*X) which are then evaluated and the orientation is determined.
  • the first matrix/ADC module 830 - 1 is then used to measure the X raw acceleration value during phase three when the values a, b are set to 0, 1, respectively, and during phase four the values a, b are set to 1, 0, respectively, to measure the Z-axis acceleration.
  • ADC instead of two ADCs, a single ADC may be implemented to sequentially measure X, Z, (a*Z ⁇ b*X) and (a*Z+b*X). Further still, four ADCs could be used, one for each of the variables or measurements. One of ordinary skill in the art will understand how this would be implemented.
  • a tip-over threshold angle ⁇ is set in step 1302 and as a result the values a, b are set in step 1304 .
  • the X- and Z-axis accelerations are measured and the two calculations (a*Z ⁇ b*X) and (a*Z+b*X) are calculated in step 1308 .
  • steps 1306 , 1308 these occur simultaneously and are only shown separated for explanation purposes.
  • the results of those calculations are each compared to a threshold value, i.e., zero, as described above, in step 1314 , where the orientation is identified, i.e., the quadrant is identified by the comparisons of the two equations with zero.
  • step 1316 if the identified quadrant is determined as being an allowed quadrant, then control passes back to step 1306 for continued measure of the lean angle. If, however, at step 1316 it is determined that the device is now oriented in a “not allowed” quadrant then control passes to step 1318 where a signal indicating such condition may be asserted.
  • step 1310 the values of the X and Z accelerations are each compared to a threshold level. And if, at step 1312 these values are within the appropriate threshold, then control passes back to step 1314 to compare the tip-over angle calculations. If, however, at step 1312 it is determined that X and Z are not within the appropriate thresholds, then control passes back to step 1306 without a tip-over determination because the X, Z signals are not sufficient.
  • the determinations in steps 1310 , 1312 are provided to make sure that the acceleration signals are valid for determining the tip-over angle. In one embodiment of the present invention, if the larger of the X and Z acceleration value is less than 3 ⁇ 8 g, then it is determined that the signals being measured by the sensor are not strong enough to make a valid determination as to the lean angle of the apparatus to which the tip-over angle sensor is connected.
  • one embodiment of the present invention included two variable capacitors that could be programmed with different capacitances.
  • one of the capacitors may be of a fixed value and the other variable. This will provide a simpler device but may be limited as to the number of different tip-over threshold angles that can be selected.
  • the embodiments of the present invention may be implemented in a single device, for example, an eight-pin device in an LCC package with inputs and outputs running under, e.g., the I 2 C protocol.
  • the necessary I/O components, clock, power and bias generators, signal conditioning, etc. would be included.
  • the values a, b and, therefore, the tip-over threshold angle ⁇ could be set via input pins not requiring any operating protocol, and the associated circuitry, thus simplifying the interface.
  • the values a, b could be pre-set at the factory, and the input pins disabled, in order to provide a device with an already-set tip-over threshold angle ⁇ .
  • an ASIC may be provided in the device to operate the timing signals for the opening and closing of the switches described above, in addition to the other functions also described above, as well as any I/O operations that might be needed, as is understood by one of ordinary skill in the art.
  • two-axis acceleration sensor has been described, in one embodiment, as being a thermal accelerometer, it is envisioned that other types of acceleration sensors could be used. Still further, two single-axis acceleration sensors may be used. One of ordinary skill in the art would understand how this would be implemented.

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US14/295,864 2013-06-14 2014-06-04 Tip-over sensor Abandoned US20140372074A1 (en)

Priority Applications (6)

Application Number Priority Date Filing Date Title
US14/295,864 US20140372074A1 (en) 2013-06-14 2014-06-04 Tip-over sensor
CN201480033753.0A CN105378428A (zh) 2013-06-14 2014-06-06 倾翻传感器
KR1020167000530A KR20160023772A (ko) 2013-06-14 2014-06-06 팁-오버 센서
EP14810672.7A EP3008422B1 (fr) 2013-06-14 2014-06-06 Capteur de chavirage
PCT/US2014/041253 WO2014200835A1 (fr) 2013-06-14 2014-06-06 Capteur de chavirage
JP2016519557A JP2016524147A (ja) 2013-06-14 2014-06-06 転倒センサ

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US14/295,864 US20140372074A1 (en) 2013-06-14 2014-06-04 Tip-over sensor

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CN (1) CN105378428A (fr)
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WO2020115065A1 (fr) * 2018-12-07 2020-06-11 Hahn-Schickard-Gesellschaft für angewandte Forschung e.V. Arrangement de circuit comprenant au moins un modulateur delta-sigma et un échantillonneur-bloqueur
US11242052B2 (en) * 2018-03-28 2022-02-08 Honda Motor Co., Ltd Object detection system for saddle-type vehicle, and saddle-type vehicle
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US20240417021A1 (en) * 2023-06-16 2024-12-19 Ellea Ingegneria Srl Unipersonale Passive safety device for a motorcycle

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EP3008422A1 (fr) 2016-04-20
JP2016524147A (ja) 2016-08-12
KR20160023772A (ko) 2016-03-03
WO2014200835A1 (fr) 2014-12-18
EP3008422A4 (fr) 2017-03-15
CN105378428A (zh) 2016-03-02

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